CN101934933B - Apparatus for conveying electronic element - Google Patents
Apparatus for conveying electronic element Download PDFInfo
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- CN101934933B CN101934933B CN 200910205984 CN200910205984A CN101934933B CN 101934933 B CN101934933 B CN 101934933B CN 200910205984 CN200910205984 CN 200910205984 CN 200910205984 A CN200910205984 A CN 200910205984A CN 101934933 B CN101934933 B CN 101934933B
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Abstract
Provided is an apparatus for conveying an electronic element, capable of adjusting the height of each absorbing clamp with high precision in a short time. The apparatus includes a rotating floor (2), a plurality of absorbing clamps (13), a pneumatic shuttle (18), an elevating device (14), and a control device (21) for controlling a descending amount of the absorbing clamps (13). The control device (21) comprises a height detection part (38) to detect a fiducial height of the absorbing clamps (13) by using a detection system different from that of the elevating device (14). The control device (21) comprises a correction part for correcting the descending amount of each absorbing clamp (13) so as to ensure the fiducial height of each absorbing clamp to be identical to the height of each absorbing clamp (13) detected by the elevating device (14).
Description
Technical field
The present invention relates to a kind of with the apparatus for conveying electronic element of electronic component with suction jig absorption conveyance.
Background technology
As existing this apparatus for conveying electronic element, for example record to some extent in patent documentation 1.The carrying device of 1 publicity of patent documentation comprises: support the turntable of a plurality of suction jig free liftings, and be used for the jacking system of lifting suction jig.Described turntable is overlooked and is seen roundedly, drives axis intermittent rotary around above-below direction by actuating device.
Described suction jig equally spaced is arranged in described turntable peripheral part in a circumferential direction.Each suction jig, the peripheral part of perforation turntable on above-below direction.In the lower end of this suction jig, be formed for the adsorption plane of stick electronic components, in the upper end of suction jig, connecting the push rod of jacking system.
Described jacking system, it is configured to: convert the rotation of electrical motor to crank motion, the described push rod of lifting.This jacking system when suction jig is moved by described turntable driving along continuous straight runs, remains on the position of readiness that described suction jig rises.In addition, this jacking system, when the suction jig stick electronic components or when being positioned over electronic component in the section of being placed, (during mobile the placement), fall suction jig.
No. 4057643 communique of [patent documentation 1] patent
The length of each suction jig has error during fabrication, so be difficult to form certain length.In addition, for turntable, the very high flatness of more difficult formation that more maximizes is so the height of each suction jig department of assembly is easy to occur inconsistent.And then due to the long-time carrying device that uses, for example the dynamic Contact face of rubber (Zhe junction) can wear and tear sometimes, thereby changes the height of suction jig.
Therefore, the carrying device that comprises 1 publicity of above-mentioned patent documentation, on the apparatus for conveying electronic element of a plurality of suction jigs of turret supports, can produce following problem: certain for the adsorption plane height that makes the suction jig that turntable assembles, just must adjust operation highly for each suction jig.
The reason of carrying out the suction jig height adjustment is, when the aspect ratio altitude datum of described adsorption plane hangs down, when for example using the suction jig stick electronic components, may cause to surpass the load impact electronic component of permissible range.Have, when the aspect ratio altitude datum of adsorption plane is high, may cause suction jig not contact electronic component with the pressing force of regulation, absorption takes place frequently extremely.In addition, for reducing suction jig to the pressing force of electronic component, also can consider to add shock mount between suction jig and push rod.
But, even adopt this structure, also can't when suction jig high speed impact electronic component, relax the impulsive force that is applied on electronic component.
Adjusting the operation of suction jig height must the staff use hand power tool that each suction jig is carried out one by one, so production time significantly lengthens.In addition, if finish at short notice this operation, the deviation of adsorption plane height will become large.
Summary of the invention
The present invention is for addressing this problem, aim to provide a kind of can be with short time and the apparatus for conveying electronic element of accurately height of each suction jig being adjusted.
for reaching this purpose, apparatus for conveying electronic element provided by the present invention, comprise: the turntable of intermittent rotation, with the peripheral part that can be supported on up and down this turntable, at the first-class spaced a plurality of electronic component suction jigs of the circumferencial direction of described turntable, pneumatic shuttle with the adsorbed state that switches the electronic component that is caused by described suction jig and the state of relieving, with contain the described suction jig function of lifting and contain simultaneously the jacking system that detects suction jig height function, with be connected with described jacking system and control the control setup of described suction jig slippage, described control setup comprises: height detection section and correction portion, described height detection section is arranged near described turntable, utilizes the other checking system different with described jacking system to detect the altitude datum of each suction jig, described correction portion is revised the slippage of each suction jig, so that under suction jig has descended the state of regulation slippage, by the altitude datum of detected each suction jig of described height detection section and consistent by the height of detected each suction jig of described jacking system under this state.
The present invention, in aforementioned invention, described control setup, also comprise: the intermittence rotation by described turntable makes each suction jig move in turn the turntable control part of described test section, and the jacking system control part that makes the suction jig that moves to described test section descend and then rise by described jacking system.
The present invention, in aforementioned invention, described other checking system is made of sensor, and described sensor is for detection of the amount of movement that is adsorbed the detection module that fixture presses; Described correction portion, consisted of by correction calculating part, correction preservation section and correction enforcement division, wherein, described correction calculating part, when the height by the detected suction jig of described sensor is the preset reference height, relatively by height and the described altitude datum of the detected suction jig of jacking system, calculate the correction that the difference of height of these height is become 0 necessary each suction jig; Described correction preservation section stores described correction in internal memory into; Described correction enforcement division reads out described correction from described internal memory when jacking system moves, and based on the slippage of this each suction jig of correction correction.
The present invention, in aforementioned invention, also comprise: be arranged near the electronic component handing-over turntable of described turntable peripheral part, with along the circumferential direction uniformly-spaced arrange with the peripheral part of turntable in the handing-over of this electronic component, contain a plurality of fixtures of picking up of the adsorption plane relative with the adsorption plane of described suction jig; Described control setup comprises elevation measurement section and high computational section; Described elevation measurement section, the suction jig as benchmark of selecting is dropped to and describedly pick up gapless between fixture, under this state, take the height that detects the described suction jig that draws by described jacking system as benchmark, all are picked up fixture detect the elevation measurement work of picking up the fixture height; Described high computational section is revised the height of described suction jig as benchmark take the described revised slippage of suction jig, calculates at each suction jig and respectively pick up the suction jig height when carrying out the electronic component handing-over between fixture.
The present invention, in aforementioned invention, the described fixture of picking up can be arranged at electronic component handing-over turntable crank motion; Described apparatus for conveying electronic element also comprises: with described to pick up fixture relative, be arranged at described handing-over with near the electronic component supply unit turntable, with have make described pick up the function of the relative described electronic component supply unit advance and retreat of fixture and have detect pick up fixture amount of movement function pick up the fixture actuating device; Described control setup comprises: moving distance measuring section and miles of relative movement storage part and actuating device control part; Described moving distance measuring section, between the described electronic component of picking up fixture and electronic component supply unit during gapless, pick up fixture for all, measure by the described fixture of picking up and pick up the position of fixture and pick up miles of relative movement between the fixture initial position with actuating device is detected; Described miles of relative movement storage part, the miles of relative movement that all that this moving distance measuring section is measured are picked up fixture deposits internal memory in; Described actuating device control part when respectively picking up the electronic component of the described electronic component supply unit of fixture absorption, is controlled described action of picking up fixture use actuating device, makes to pick up fixture and move with the miles of relative movement that reads out from described internal memory.
By the present invention, by the height (altitude datum) of detected each suction jig of height detection section, for containing the value of the error that tolerance when making suction jig or the flatness of turntable etc. cause.By the present invention, can will contain the altitude datum of the suction jig of this error, and the down maneuver of control setup control jacking system, the height adjustment of the suction jig when suction jig is descended becomes consistent height.
Therefore, when driving by jacking system when making suction jig drop to object height, can descend with the state of substantially getting rid of described error.That is, apparatus for conveying electronic element provided by the invention by detect the altitude datum of each suction jig with height detection section, is revised the slippage that is caused by jacking system as mentioned above, can carry out substantial height adjustment to each suction jig.
In addition, the time that spends when utilizing height detection section to detect each suction jig altitude datum, the production time when adjusting one by one the suction jig height than the staff with hand power tool has remarkable shortening.
Therefore, by the present invention, can provide a kind of can and carry out the apparatus for conveying electronic element of each suction jig height adjustment accurately with the short time.
Description of drawings
Fig. 1 means the planar view of the formation of the apparatus for conveying electronic element that the embodiment of the present invention provides.
Fig. 2 means the lateral plan of the formation of jacking system, suction jig and height detection unit.
Fig. 3 is the lateral plan of the action when detecting the height of suction jig for explanation, state before descending with figure (A) expression, state with figure (B) expression reference for assembling height clamp drops to suction jig the state of altitude datum with figure (C) expression.
The enlarged side view of the fixture propelling unit when Fig. 4 means height detection, suction jig and sensor detection module with figure (A) expression readiness for action, drops to suction jig the state of altitude datum with figure (B) expression.
The lateral plan of the element connection device that Fig. 5 means and the formation of electronic component supply unit.
Fig. 6 detects the lateral plan of the action of picking up the fixture height for explanation, be adsorbed the state of fixture absorption with figure (A) expression button fixture 67, is picked up the state of fixture absorption with figure (B) expression button fixture 67.
Fig. 7 measures the lateral plan of the action of picking up fixture miles of relative movement for explanation, with figure (A) expression readiness for action, picked up the state of fixture absorption with figure (B) expression electronic component.
Fig. 8 be for explanation and correcting unit between carry out the lateral plan of action of the detection height in electronic component when handing-over, with figure (A) expression readiness for action, contact the state of the top board of correcting unit with figure (B) expression suction jig, make the state that leaves necessary gap between suction jig rising and electronic component with figure (C) expression, suction jig is down to the state of electronic component delivery position with figure (d) expression.
Fig. 9 means suction jig is down to lateral plan with the top equal height state of the entrance guide of braid unit.
Figure 10 means suction jig is down to and makes electronic component moving be put into the section drawing of the position of braid unit.
Figure 11 is the block diagram of apparatus for conveying electronic element provided by the invention.
Nomenclature
1... apparatus for conveying electronic element, 2... turntable, 13... suction jig, 14... jacking system, 18... pneumatic shuttle, 21... control setup, 24... height detection unit, 31... turntable control part, 32... jacking system control part, 39... correction portion, 42... sensor detection head, 43... detection module, 45... correction calculating part, 46... correction preservation section, 47... correction enforcement division, 48... internal memory, 51... electronic component supply unit, 52... pick up fixture, 53... electronic component handing-over turntable, 55... pick up the fixture actuating device, 61... elevation measurement section, 62... height preservation section, 63... high computational section, 64... moving distance measuring section, 65... miles of relative movement preservation section, 66... actuating device control part.
The specific embodiment
Below, by Fig. 1～Figure 11, an embodiment of apparatus for conveying electronic element provided by the invention is described in detail.
Apparatus for conveying electronic element 1 shown in Figure 1 uses and to overlook rounded turntable 2, with electronic component 3 (with reference to Fig. 7) conveyance to a plurality of processing equipment described later 4～10 places.
These suction jigs 13 liftably are supported on turntable 2, make it lifting by jacking system 14 described later (with reference to Fig. 2).In addition, these suction jigs 13 as shown in Figure 2, by spring members 15 application of force upwards, remain on the regulation position of readiness usually.That is, suction jig 13 can be supported on turntable 2 up and down take position of readiness as the top position.
In the bottom of these suction jigs 13, as shown in Figure 3, be fixed wtih rubber suction nozzle 16.Inside in this rubber suction nozzle 16 and suction jig 13 bottoms connects and is provided with in figure the not pore of expression.The lower end of this pore, the adsorption plane upper shed in the lower end that is formed on rubber suction nozzle 16, the upper end is connected with the pneumatic shuttle 18 of the air hose 17 (with reference to Fig. 1) that contains each suction jig 13.
This pneumatic shuttle 18 from described pore air amount, is adsorbed at electronic component 3 and supplies with positive pressure air to described pore when fixture 13 is decontroled when electronic component 3 is adsorbed fixture 13 absorption.The action of this pneumatic shuttle 18 is controlled by aftermentioned control setup 21 (with reference to Fig. 1 and Figure 11).
The actuating device 12 that described turntable is used consists of as propulsion source take electrical motor (in figure as expression), makes turntable 2 around the angle of the axis rotation regulation of above-below direction.The angle of this regulation refers to, the number of supposing suction jig 13 is N, is equivalent to rotate the 1/N angle.The actuating device 12 of the present embodiment, intermittent at every turn with 1/30 degree revolving-turret 2.The rotative speed of the turntable 2 when this actuating device 12 drives turntable 2, swing circle etc. are all controlled by control setup 21 described later.
Described various processing equipment 4～10, as shown in Figure 1, can be for supply with electronic component 3 rotary pick up unit 4 and be used for checking the image unit 5 of electronic component 3 outward appearances and be used for revising electronic component 3 absorption position, angle correcting unit 6 and be used for reclaiming 3 recovery units 7 of substandard products, and be used for electronic component 3 is accommodated into the discharger 8 of container and braid unit 9 etc.These devices are separately positioned near the peripheral part of turntable 2.Namely, the apparatus for conveying electronic element 1 of the present embodiment, make by the rotary electronic component 3 of supplying with unit 4 of picking up of aftermentioned and be adsorbed fixture 13 absorption, intermittent revolving-turret 2, via image unit 5, correcting unit 6, recovery unit 7 etc. the most at last these electronic component 3 conveyances to discharger 8 or braid unit 9.
Described jacking system 14 as shown in Figure 2, comprises the fixture propelling unit 22 relative with suction jig 13 from the top, and is used for driving the electrical motor 23 of this fixture propelling unit 22 on above-below direction.This jacking system 14 is arranged at the top of the processing equipment that is necessary lifting suction jig 13.That is, this jacking system 14 as shown in Figure 1, is arranged at respectively rotary top of picking up unit 4, and the top of image unit 5, and the top of correcting unit 6, and the top of the top of discharger 8 and braid unit 9, and the top of aftermentioned height detection unit 24.
The described fixture propelling unit 22 of jacking system 14, it is configured to the push rod 25 of direction extension up and down can be supported on supporter 26 with moving freely on above-below direction.Supporter 26 is fixed on supporting frame 27.This supporting frame 27 is arranged on the top of described turntable 2 with the state that is held in described base station 11.Push rod 25 utilizes the upwards application of force of spring members 30, and the set cam follower in its upper end 28 is contacted with the cam 29 of described electrical motor 23.
Described cam follower 28 and cam 29 convert the reciprocating device of above-below direction to for the rotation with electrical motor 23.Cam 29 is fixed in the shaft end of the S. A. 23a of electrical motor 23.Electrical motor 23 is fixed on described supporting frame 27 with the diametric state of the orientation of its axis turntable 2 of S. A. 23a.This electrical motor 23, with the described cam 29 of predetermined angular rotation, then contrary direction rotation is got back to initial position.
The camb contour of described cam 29 can for the rotation of cam 29, make fixture propelling unit 22 rise or descend with the ratio of regulation.That is, this jacking system 14 when having lifting suction jig 13 functions, also has the function that detects suction jig 13 height.The angle (slippage of suction jig 13) of described electrical motor 23 rotations is controlled by the height of control setup 21 corresponding each suction jigs 13 as described later.
The apparatus for conveying electronic element 1 that the present embodiment provides, with aftermentioned height detection unit 24 (with reference to Fig. 1) detect height as each suction jig 13 benchmark (below, only be called altitude datum), to should the altitude datum correction by the slippage of the suction jig 13 of jacking system 14 operations.In the present embodiment, consist of the present invention's so-called " other checking system " by height detection unit 24.
At first, set the height (altitude datum) that becomes suction jig 13 adsorption plane benchmark.Here, the height of described detection module 43 { height from the sky plate (upper surface) of base station 11 to detection module 43 upper ends } as shown in Fig. 3 (A), is described for the situation of h1 at the elongation state (detection module 43 is in the highest state) of sensor detection head 42 time.As shown in figure (B), utilize fixture 44 to make sensor detection head 42 shrink h2 under this state, for this position, the position of preset value h 3 height is decided to be 0 point (altitude datum) { with reference to figure (C) }.This h3 is the position that the upper end position of the detection module 43 of the sensor detection head 42 under the elongation state reduces h4.
For example, when supposing that h1 is 200mm, establishing h2 is that 5mm, h3 are 3.5mm.At this moment, altitude datum is 198.5mm, and when the state of elongation reduces 1.5mm (h4) from sensor detection head 42, the height of detection module 43 upper ends is altitude datum.
If under this state, by the driving of jacking system 14, fixture propelling unit 22 descends, when at first fixture propelling unit 22 has descended gap d 2, fixture propelling unit 22 contacts with suction jig 13, and along with the further decline gap d 1 of fixture propelling unit 22, suction jig 13 contacts with detection module 43.
By the driving of jacking system 14, fixture propelling unit 22 further descends, and when sensor detection head 42 shrank (detection module 43 descends), sensor detection head 42 detected 0 point.In the present embodiment, when the slippage of fixture propelling unit 22 reached d1+d2+h4, sensor detection head 42 detected 0 point.This moment, the height of suction jig 13 was " altitude datum ".
Like this when sensor detection head 42 detects at 0, the height detection section 38 of control setup 21 makes jacking system 14 stop.That is, this height detection section 38 can utilize described sensor detection head 42 to detect the altitude datum of suction jig 13.
On the other hand, the height of suction jig 13 of this moment can be tried to achieve by calculating according to the anglec of rotation of the cam 29 of jacking system 14.Below, this height by the detected suction jig 13 of jacking system 14 only is called theoretical level.
The jacking system control part 32 of control setup 21 is controlled the action of jacking system 14, the slippage that makes suction jig 13 descend and stipulate based on described theoretical level.
This correction portion 39 as shown in figure 11, comprises correction calculating part 45, and correction preservation section 46, and revises enforcement division 47.
Described correction enforcement division 47, (suction jig 13 by actual falling time) reads described deviant from described internal memory 48 when using jacking system 14, according to the described slippage of this deviant correction.
For example, when suction jig 13 is in altitude datum, when theoretical level is higher than altitude datum, increases described slippage and make theoretical level reduce this difference of height.Described deviant when suction jig 13 descends, the words that describe with Fig. 4 can be expressed as " position of readiness of fixture propelling unit 22 "+" d1+d2+h4 "-" detect height " at 0 of each suction jig 13.
The apparatus for conveying electronic element 1 that the present embodiment provides to all suction jigs 13, is all implemented a series of height detection action of the above-mentioned preservation that deviant detected from altitude datum.This moment, also by the driving of turntable control part 31, actuating device 12 is rotating table 2 intermittently, and jacking system control part 32 is controlled the action of jacking system 14, lifting suction jig 13.Its result, in each suction jig 13, when reality descends, as the slippage correction of the target of jacking system 14 described deviant, can allow all suction jigs 13 drop to identical specified altitude.
In the present embodiment, be to try to achieve described deviant with the state that rubber suction nozzle 16 is housed on suction jig 13.Therefore, can be with the handing-over of each suction jig 13 height, be modified to the setting height(from bottom) error that contains suction jig 13 and the suitable handing-over height of rubber suction nozzle 16 individual differences.
The apparatus for conveying electronic element 1 that the present embodiment provides utilizes above-mentioned deviant, revise and various processing equipment 4～9 between element handing-over height when carrying out electronic component 3 handing-over.
(1) about with rotary handing-over of picking up the electronic component 3 of unit 4:
The rotary unit 4 of picking up as shown in Figure 5, makes and picks up fixture 52 from the electronic component 3 that an attached electronic component supply unit 51 of side draught keeps, and passes to the described suction jig 13 that is positioned at the top.Described electronic component supply unit 51 is to keep cutting apart a plurality of silicons that silicon chip forms in erected state, that is, the electronic component 3 of apparatus for conveying electronic element 1 conveyance that the present embodiment provides is described silicon.
The rotary unit 4 of picking up that the present embodiment provides, comprise: be arranged near the electronic component handing-over turntable 53 of described turntable 2 peripheral parts, use turntable 53 peripheral parts along the circumferential direction uniformly-spaced to arrange with joining at this electronic component, pick up fixture 52 for 8 with adsorption plane relative with the adsorption plane of described suction jig 13, with be used for the described electronic component handing-over of intermittent rotation and pick up with actuating device 54 with the rotary of turntable 53, and be used for mobile pick up fixture 52 pick up fixture actuating device 55 etc.
Described electronic component handing-over is discoideus with turntable 53, and the state that is level with its axis rotatably is supported on base station 11 by actuating device 54.This electronic component handing-over is seen as the parallel direction of tangential direction with described turntable 2 peripheral parts with the axis direction of turntable 53 from the front.
Pick up fixture 52, its structure is identical with described suction jig 13, is provided with rubber suction nozzle 16 at leading section, is connected with pneumatic shuttle 18 simultaneously, is supported in the electronic component handing-over with on turntable 53 with can move freely.
Pick up the direction that fixture 52 moves, be the diametric(al) of electronic component handing-over with turntable 53.In addition, pick up the leading section (leading section of rubber suction nozzle 16) of fixture 52 at these, in the rotation by described turntable 2, rubber suction nozzle 16 moves under the state of position of points upwards, forms the adsorption plane relative with the adsorption plane of described suction jig 13.
The described fixture of picking up presses by cam 56 base end part of picking up fixture 52 in the present embodiment with actuating device 55.Cam 56 is fixed on the S. A. 57 of the electrical motor that does not represent in figure, can try to achieve the amount of movement of picking up fixture 52 according to its anglec of rotation.The action of this electrical motor is controlled by the rotary control part 33 (with reference to Figure 11) of picking up of control setup 21.That is, pick up fixture with actuating device 55, existingly make the described function of picking up relatively described electronic component supply unit 51 advance and retreat of fixture 52, also have the function that detects the amount of movement of picking up fixture 52.
The rotary control part 33 of picking up of control setup 11, comprise: the elevation measurement section 61 that is used for being set in suction jig 13 and picks up height when carrying out electronic component 3 handing-over between fixture 52, with height preservation section 62 and high computational section 63, and moving distance measuring section 64, miles of relative movement preservation section 65 and the actuating device control part 66 of the miles of relative movement when being used for controlling the electronic component 3 of picking up the fixture 52 described electronic component supply units 51 of absorption etc.
At this, at first, at suction jig 13 and the establishing method of picking up the height of the suction jig 13 when carrying out electronic component 3 handing-over between fixture 52 describe.
Described elevation measurement section 61 as shown in Fig. 6 (A)～(B), will drop to and describedly pick up zero-lash position between fixture 52 as the suction jig 13 of selection reference (for example the #1 suction jig 13) in advance.At this moment, make the button fixture 67 of suction jig 13 absorption preparations.The thickness of this button fixture 67 is measured in advance and is got well and deposit in internal memory 48.Suction jig 13 and the detection of picking up fixture 52 gaps disappearances utilize the flow counter (not shown) of pneumatic shuttle 18 to carry out.
Described height preservation section 62 under the described detected state shown in Fig. 6 (B), will be deposited in internal memory 48 (with reference to Figure 11) by the height (theoretical level) of the detected described suction jig 13 of jacking system 14.In the present embodiment, to all fixtures 52 of picking up, carry out this height detection of picking up fixture 52 and to internal memory 48 deposit in by.
Described high computational section 63 is by calculating the height (height during the element handing-over) that can draw at #1 suction jig 13 (as the suction jig 13 of benchmark) and pick up the suction jig 13 when carrying out electronic component 3 handing-over between fixture 52.Elaborate, high computational section 63, described deviant according to #1 suction jig 13, each that reads out from internal memory 48 being picked up the described theoretical level of fixture 52 revises, deduct again the thickness of button fixture 67, add the thickness of electronic component 3, obtain the height in element when handing-over of suction jig 13.
Described high computational section 63, the height when utilizing the element handing-over of above-mentioned #1 suction jig 13, the height when calculating the element handing-over of #2 suction jig 13～#30 suction jig 13 are arranged again.Namely, high computational section 63, obtain the difference of the deviant of the deviant of each suction jig 13 and #1 suction jig 13, the corresponding described difference of height during element handing-over by will use #1 suction jig 13 time is revised, the height when obtaining the element handing-over of #2～#30 suction jig 13.Namely, high computational section 63, described revised slippage based on each suction jig 13 is revised the described height of picking up fixture 52, tries to achieve at each suction jig 13 and respectively picks up the height of each suction jig 13 when carrying out electronic component 3 handing-over between fixture 52.
Consequently, can be to 8 240 kinds of combinations of picking up fixture 52 and 30 suction jigs 13, the height when setting member joins respectively.
In the present embodiment, owing to being the height that is equipped with when trying to achieve the element handing-over under the state of rubber suction nozzle 16 on picking up fixture 52, so comprised the setting height(from bottom) error of picking up fixture 52 and the individual difference of rubber suction nozzle 16, the height in the time of can joining to actual components in picking up fixture 52 carries out correct correction.
At suction jig 13 with pick up and carry out the element height in when handing-over between fixture 52, describe with Fig. 6, can be expressed as " height the when absorption of the fixture respectively picked up detects "+" thickness of button fixture 67 "-" thickness of electronic component 3 "+" correction of the current suction jig that will join 13 "-" as the correction of the suction jig 13 of benchmark ".
Below, the establishing method of the amount of movement of picking up fixture 52 when picking up the electronic component 3 of fixture 52 stick electronic components supply units 51 describes.
At first the rotary moving distance measuring section that picks up control part 33 64, allows and picks up fixture 52 and advance to electronic component supply unit 51 from the initial position shown in Fig. 7 (A).And this moving distance measuring section 64 as shown in Fig. 7 (B), when picking up fixture 52 and contact with electronic component 3, stops picking up fixture with actuating device 55.Pick up contacting of fixture 52 and electronic component 3, utilize with the flow counter of picking up the pneumatic shuttle 18 that fixture 52 is connected and detect.
Then, moving distance measuring section 64 picks up the position of fixture 52 and picks up miles of relative movement between the initial position of fixture 52 with actuating device 55 is detected by picking up fixture when stopping by calculating, determining it.
Miles of relative movement preservation section 65 will be deposited in internal memory 48 by the miles of relative movement of picking up fixture 52 that described moving distance measuring section 64 calculates.The moving distance measuring section 64 of the present embodiment and miles of relative movement preservation section 65 pick up fixture 52 to 8 and measure respectively described miles of relative movement, and deposit in internal memory 48.
Actuating device control part 66, when respectively picking up the electronic component 3 of the actual stick electronic components supply unit 51 of fixture 52, read out the described miles of relative movement that each picks up fixture 52 from described internal memory 48, control the described fixture of picking up with the action of actuating device 55, make and pick up fixture 52 and move the miles of relative movement that this reads out.
Pick up the miles of relative movement of fixture 52, utilize Fig. 7 to describe, can be expressed as " the element absorption detection position of respectively picking up fixture 52 "-" respectively picking up the initial position of fixture 52 "-" thickness of electronic component 3 ".
(2) about the handing-over of correcting unit 6 and electronic component 3:
Correcting unit 6 as shown in Figure 8, comprising: place the top board 71 of electronic component 3 and from the clamp 72 of side direction clamping electronic component 3.Described clamp 72 is not described in Fig. 4, and it is configured to by clamping electronic component 3 from four direction, revises the position of electronic component 3 and around the angle of the axis of above-below direction.
And correcting unit 6 between the height of suction jig 13 when carrying out electronic component 3 handing-over, be to set take the upper surface of described top board 71 as benchmark.That is, at first, as shown in Fig. 8 (A)～(B), will slowly fall as the suction jig 13 (for example the #1 suction jig 13) of benchmark the height when obtaining the rubber suction nozzle 16 of this suction jig 13 and top board 71 and contacting.
Then, as shown in Fig. 8 (C), with the height when suction jig 13 has risen gap between the necessary rubber suction nozzle 16 of timing and electronic component 3, deposit in internal memory 48 as the releasing position.The releasing position of other # 2 suction jig 13～#30 suction jig 13 utilizes the releasing position of #1 suction jig 13 to try to achieve by calculating.That is, the releasing position of #2 suction jig 13～#30 suction jig 13 is corrected altitudes that the difference of the deviant of the deviant of #1 suction jig 13 and #2 suction jig 13～#30 suction jig 13 is disappeared.The releasing position of this revised #2～#30 suction jig 13 is also deposited in internal memory 48.
For correcting unit 6, actual when carrying out the handing-over of electronic component 3, as shown in Fig. 8 (d), each suction jig 13 is dropped to the high position of electronic component 3 thickness from described releasing position.And, decontrol electronic component 3 at this height (element release altitude) suction jig 13, after carrying out the position of components correction by correcting unit 6, produce negative pressure by 18 pairs of suction jigs of pneumatic shuttle 13, make electronic component 3 be adsorbed fixture 13 and adsorb.
The height (element release altitude) of the suction jig 13 when carrying out electronic component 3 handing-over for correcting unit 6, utilize Fig. 8 to describe, can be expressed as " releasing position "-" height of electronic component 3 "+(" correction of each suction jig 13 "-" correction of #1 suction jig 13 ").
(3) about 9 electronic component 3 handing-over to the braid unit;
The releasing position of #2～#30 suction jig 13 is as the corrected altitude of the disappearance of the difference between the deviant of the described deviant that makes #1 suction jig 13 and #2 suction jig 13～#30 suction jig 13.The releasing position of this revised #2～#30 suction jig 13 also deposits in internal memory 48.
And, with electronic component 3 is actual when being accommodated in belt, as shown in figure 10, suction jig 13 being dropped to the lower position of predetermined altitude from described releasing position, this suction jig 13 is decontroled electronic component 3.
The height of the suction jig 13 when electronic component 3 is accommodated into braid unit 9 (element release altitude) utilizes Figure 10 to describe, and can be expressed as " releasing position "+" correction of each suction jig 13 "-" correction of #1 suction jig 13 ".In addition, the situation that electronic component 3 is accommodated into discharger 8 is also tried to achieve with braid unit 9 and the releasing position of the #1 suction jig 13 when contacting as the face of benchmark in the same manner, utilizes this releasing position to try to achieve the releasing position of other suction jig 13.
In the apparatus for conveying electronic element 1 of above-mentioned formation, by the height (altitude datum) of detected each suction jig 13 of height detection unit 24, the value of the tolerance when making for containing suction jig 13, the error that caused by the flatness of turntable 2 etc.By the present embodiment, can allow the altitude datum of the suction jig 13 that contains this error, and control the down maneuver of jacking systems 14 at control setup 21, the height (theoretical level) of the suction jig 13 when suction jig 13 is descended is consistent.
Therefore, when the driving by jacking system 14, when suction jig 13 is dropped to object height, can descend with the state of the described error of substantial eliminating.That is, the apparatus for conveying electronic element 1 that the present embodiment provides, the altitude datum with height detection unit 24 each suction jigs 13 of detection causes slippage by above-mentioned correction by jacking system 14, and each suction jig 13 is implemented substantial height adjustments.In addition, the required time when utilizing height detection unit 24 to detect the altitude datum of each suction jigs 13 is compared during operation when utilizing hand power tool to adjust one by one the height of suction jig 13 with the staff, can significantly shorten.
Therefore, the present embodiment can provide a kind of with the short time and carry out accurately the apparatus for conveying electronic element of the height adjustment of each suction jig 13.
The control setup 21 of the present embodiment, comprise: by intermittently rotating described turntable 2, make each suction jig 13 move in turn the turntable control part 31 of described height detection unit 24, and make the jacking system control part 32 that rises after suction jig 13 declines that move to described height detection unit 24 by described jacking system 14.
Therefore, the apparatus for conveying electronic element 1 that the embodiment of the present invention provides, due to can be to all suction jigs 13, automatically carry out the detection action of altitude datum with height detection unit 24, so, for example each production unit, every certain hour of crossing, or change suction jig 13, rubber suction nozzle 16, and the height of suction jig 13 can carry out the height adjustment of suction jig 13 after having occured to change automatically.
Therefore, in the present embodiment, when causing the altitude datum of suction jig 13 that variation has occured due to the loss of suction jig 13 or other elements, can carry out for this variation the height adjustment of suction jig 13.Its result can prevent damage, the abnormal generation of absorption of electronic component 3, really the high apparatus for conveying electronic element of the reliability when so the element conveyance can be provided.
The described height detection unit 24 that the present embodiment provides, the sensor that is adsorbed the amount of movement of the detection module 43 that fixture 13 presses by detection consists of.
In addition, the described correction portion 39 of the present embodiment comprises: correction calculating part 45 and correction preservation section 46 and correction enforcement division 47; Wherein, described correction calculating part 45, when the height by the detected suction jig 13 of described sensor is predetermined altitude datum, relatively by height and the described altitude datum of the detected suction jig 13 of jacking system 14, calculate each suction jig 13 these differences of height are highly become 0 o'clock necessary deviant (correction); Described correction preservation section 46 deposits described deviant in internal memory 48; Described correction enforcement division 47 reads out described deviant from described internal memory 48 when suction jig 13 descends, and according to this deviant, each suction jig 13 is revised slippage.
Therefore, the apparatus for conveying electronic element 1 that the present embodiment provides when revising the slippage of suction jig 13, can or subtract each other described slippage with the deviant addition that reads out from internal memory 48.So, the apparatus for conveying electronic element 1 that the present embodiment provides is owing to revising at short notice described slippage by simple calculating, therefore, turntable 2 need not be stopped or jacking system 14 just can be revised slippage, the conveyance of electronic component 3 can be carried out efficiently.
The apparatus for conveying electronic element 1 that the present embodiment provides, height when detecting #1 suction jig 13 and 8 and picking up fixture 52 elements handing-over, according to the described height of deviant correction of each suction jig 13, the height when trying to achieve the element handing-over for all suction jigs 13.
Therefore, can get rid of tolerance when picking up fixture 52 and making, electronic component handing-over with the error that the flatness of turntable 53 etc. causes, try to achieve in all suction jigs 13 and all and pick up the height that carries out the suction jig 13 of electronic component 3 when joining between fixture 52.
In addition, in the present embodiment, adjusted by the staff with all height of picking up fixture 52, all suction jigs 13 of actual measurement and all are picked up the situation of the distance between fixture 52 and are compared, can be with the short time and the height when correctly trying to achieve the element handing-over of each suction jig 13.
Therefore, the present embodiment can provide a kind of can the handing-over at electronic component correctly carry out with picking up of turntable 53 apparatus for conveying electronic element that electronic component 3 joins between fixture 52 always.
The apparatus for conveying electronic element 1 that the present embodiment provides, the miles of relative movement of picking up fixture 52 during with the electronic unit 3 of picking up fixture 52 stick electronic components supply units 51 deposits in internal memory 48, when fixture 52 is picked up in use, move with the miles of relative movement that reads out from described internal memory 48 and pick up fixture 52.
Therefore, in the present embodiment, can eliminate tolerance when picking up fixture 52 and make, electronic component handing-over with the caused deviations of picking up the position of fixture 52 such as flatness of turntable 53, each picks up fixture 52 can not damage the nothing electronic component 3 of stick electronic components supply unit 51 singularly.
In the above-described embodiments, describe take the altitude datum that detects suction jig 13 with touch sensor as example, as test section of the present invention, for example also can adopt and take pictures to suction jig 13 with as the parts of altitude datum simultaneously with photographic camera, and try to achieve the structure of altitude datum with this image.
Claims (5)
1. an apparatus for conveying electronic element, is characterized in that, comprising:
The turntable of intermittent rotation, and
Liftably be supported in the peripheral part of this turntable, at the first-class spaced a plurality of electronic component suction jigs of described turntable circumferencial direction, and
The pneumatic shuttle of the adsorbed state of the electronic component that switching is caused by described suction jig and the state of relieving, and
Contain the described suction jig function of lifting and contain simultaneously the jacking system that detects suction jig height function, and
Be connected with described jacking system, and control the control setup of described suction jig slippage;
Described control setup comprises: height detection section and correction portion,
Described height detection section is arranged near described turntable, utilizes the other checking system different with described jacking system to detect the altitude datum of each suction jig,
Described correction portion is revised the slippage of each suction jig, so that under suction jig has descended the state of regulation slippage, by the altitude datum of detected each suction jig of described height detection section and consistent by the height of detected each suction jig of described jacking system under this state.
2. apparatus for conveying electronic element according to claim 1, is characterized in that, described control setup also comprises: the intermittence rotation by described turntable makes each suction jig move in turn the turntable control part of described height detection section, and
The jacking system control part that makes the suction jig that moves to described height detection section descend and then rise by described jacking system.
3. apparatus for conveying electronic element according to claim 1, is characterized in that, described other checking system is made of sensor, and described sensor is for detection of the amount of movement that is adsorbed the detection module that fixture presses;
Described correction portion, consisted of by correction calculating part, correction preservation section and correction enforcement division, wherein, described correction calculating part, when the height by the detected suction jig of described sensor is the preset reference height, relatively by height and the described altitude datum of the detected suction jig of jacking system, calculate the correction that the difference of height of these height is become 0 necessary each suction jig
Described correction preservation section stores described correction in internal memory into,
Described correction enforcement division reads out described correction from described internal memory when jacking system moves, according to the slippage of this each suction jig of correction correction.
4. apparatus for conveying electronic element according to claim 1, is characterized in that, also comprises: be arranged near the electronic component handing-over turntable of described turntable peripheral part, and
Use the peripheral part of turntable along the circumferential direction uniformly-spaced to arrange in this electronic component handing-over, contain a plurality of fixtures of picking up of the adsorption plane relative with described suction jig adsorption plane;
Described control setup comprises: elevation measurement section and high computational section,
Described elevation measurement section, drop to and described when picking up between fixture zero-lash position at the suction jig as benchmark that will select in advance, all are picked up the elevation measurement action that fixture detects height, wherein, described height is the height by the detected described suction jig of described jacking system
Described high computational section is revised the height of described suction jig as benchmark take the described revised slippage of suction jig, calculates at each suction jig and respectively pick up the height of the suction jig when carrying out the electronic component handing-over between fixture.
5. apparatus for conveying electronic element according to claim 4, is characterized in that, the described fixture of picking up, but crank motion be arranged at electronic component handing-over with on turntable,
Described apparatus for conveying electronic element also comprises:
With described to pick up fixture relative, be arranged at described handing-over with near the electronic component supply unit turntable, and
Have make described pick up the function of the relatively described electronic component supply unit of fixture advance and retreat and have detect pick up fixture amount of movement function pick up the fixture actuating device;
Described control setup comprises: moving distance measuring section, miles of relative movement storage part and actuating device control part,
Described moving distance measuring section, between the described electronic component of picking up fixture and electronic component supply unit during gapless, pick up fixture for all, measure by described and pick up the position of picking up fixture that fixture detected with actuating device and pick up miles of relative movement between the fixture initial position
Described miles of relative movement storage part, the miles of relative movement that all that this moving distance measuring section is measured are picked up fixture deposits internal memory in,
Described actuating device control part when respectively picking up the electronic component of the described electronic component supply unit of fixture absorption, is controlled described action of picking up fixture use actuating device, makes to pick up fixture and move with the miles of relative movement that reads out from described internal memory.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009-154827 | 2009-06-30 | ||
| JP2009154827A JP2011014583A (en) | 2009-06-30 | 2009-06-30 | Electronic component transfer device |
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| Publication Number | Publication Date |
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| CN101934933A CN101934933A (en) | 2011-01-05 |
| CN101934933B true CN101934933B (en) | 2013-05-08 |
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| CN 200910205984 Active CN101934933B (en) | 2009-06-30 | 2009-11-30 | Apparatus for conveying electronic element |
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| JP (1) | JP2011014583A (en) |
| CN (1) | CN101934933B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013084297A1 (en) * | 2011-12-06 | 2013-06-13 | 上野精機株式会社 | Post-operation processing device, transportation device for externally placed unit, and electronic component transportation device |
| JP2016156715A (en) * | 2015-02-25 | 2016-09-01 | セイコーエプソン株式会社 | Electronic component conveyance device and electronic component inspection device |
| CN106697908A (en) * | 2017-03-01 | 2017-05-24 | 广州明森科技股份有限公司 | Intelligent card transferring device |
| CN118529490A (en) * | 2024-07-26 | 2024-08-23 | 厦门普诚半导体科技有限公司 | Go up unloading check out test set |
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| CN1533233A (en) * | 2003-03-19 | 2004-09-29 | 重机公司 | Part mounting method and device |
| CN1592574A (en) * | 2003-09-01 | 2005-03-09 | 重机公司 | Adsorption position corrector of electronic device in electronic device mounting machine |
| JP2007022574A (en) * | 2005-07-14 | 2007-02-01 | Ueno Seiki Kk | Taping apparatus for semiconductor device |
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| JP3846262B2 (en) * | 2001-10-29 | 2006-11-15 | 松下電器産業株式会社 | Method for detecting nozzle suction height in electronic component mounting apparatus |
| JP3771909B2 (en) * | 2002-02-21 | 2006-05-10 | ペンタックス株式会社 | Retractable zoom lens barrel and method for retracting zoom lens barrel |
| TW200628029A (en) * | 2004-12-06 | 2006-08-01 | Matsushita Electric Ind Co Ltd | Component mounting apparatus and component mounting method |
| WO2007015300A1 (en) * | 2005-08-04 | 2007-02-08 | Ueno Seiki Co., Ltd. | Equipment for manufacturing electronic component, and method and program for controlling equipment for manufacturing electronic component |
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| JP2002284341A (en) * | 2001-03-23 | 2002-10-03 | Tokyo Weld Co Ltd | Turntable control system and control method for turntable control system |
| CN1533233A (en) * | 2003-03-19 | 2004-09-29 | 重机公司 | Part mounting method and device |
| CN1592574A (en) * | 2003-09-01 | 2005-03-09 | 重机公司 | Adsorption position corrector of electronic device in electronic device mounting machine |
| JP2007022574A (en) * | 2005-07-14 | 2007-02-01 | Ueno Seiki Kk | Taping apparatus for semiconductor device |
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| JP2011014583A (en) | 2011-01-20 |
| CN101934933A (en) | 2011-01-05 |
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